|Consensus Tracking for Teleoperating Cyber-physical System
Lingmin Zhang, Jing Yan*, Xian Yang, Xiaoyuan Luo, Fuxiao Tan, and Xinbin Li
International Journal of Control, Automation, and Systems, vol. 16, no. 3, pp.1303-1311, 2018
Abstract : "In this paper, we investigate the consensus tracking problem for teleoperating cyber-physical system
(TCPS) under time-varying delay and actuator saturation constraints. Due to the introduction of communication
network, variable propagation time delays are considered in cyber element. In addition, actuator saturation problem
is investigated in physical element, which is caused by the physical restrictions on robots. Then, a novel distributed
consensus tracking controller is proposed in the presence of time-varying delay and actuator saturation. Meanwhile,
sufficient conditions are provided to show that the consensus tracking controller can stabilize the master-slave TCPS.
Finally, simulations and experiments are performed to validate our proposed results. It is shown that the consensus
controllers can guarantee the asymptotic stability of single-master-multi-slave TCPS."
Consensus, cyber-physical system(CPS), teleoperation, tracking.